CN114459345B - Aircraft fuselage position and posture detection system and method based on visual space positioning - Google Patents
Aircraft fuselage position and posture detection system and method based on visual space positioning Download PDFInfo
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- 230000000007 visual effect Effects 0.000 title claims abstract description 17
- 238000005259 measurement Methods 0.000 claims abstract description 126
- 238000012545 processing Methods 0.000 claims abstract description 11
- 238000007781 pre-processing Methods 0.000 claims description 6
- 238000007405 data analysis Methods 0.000 claims description 4
- 230000004807 localization Effects 0.000 claims 3
- 238000004458 analytical method Methods 0.000 abstract description 2
- 230000036544 posture Effects 0.000 description 17
- 238000009434 installation Methods 0.000 description 8
- 210000001503 joint Anatomy 0.000 description 8
- 238000013461 design Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
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- 238000003032 molecular docking Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000006243 chemical reaction Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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Abstract
The invention provides an aircraft fuselage position and posture detection system and method based on visual space positioning, wherein the system comprises a plurality of cameras, a measurement module, a control module, a directional reference ruler, a measurement mark single point and a measurement coding point; the camera and the measuring module are respectively connected with the control module, and the camera is used for acquiring a plurality of images of the measured workpiece, wherein the images comprise a directional reference ruler, a measuring mark single point and a measuring coding point; the control module is used for controlling the cameras to shoot images at the same time; the measuring module is used for analyzing and processing the image to obtain the three-dimensional coordinates of the to-be-measured point, and analyzing the three-dimensional coordinates to obtain the relation between the relative position and the gesture. According to the invention, the three-dimensional coordinates of the to-be-measured point are obtained through obtaining the images of the to-be-measured workpiece at different positions and directions and performing image processing analysis, so that the relation between the relative position and the posture is obtained, and the method has the advantages of high spatial measurement precision and high measurement speed.
Description
Technical Field
The invention relates to the technical field of aircraft detection, in particular to an aircraft fuselage position and posture detection system and method based on visual space positioning.
Background
Aircraft leveling is the checking of the relative position of individual components of the aircraft, the quality of the installation of the components and their deformation during use by means of leveling points. Currently, measuring tools used for plane level measurement work comprise a level meter, an optical theodolite, a total station, a laser tracker and the like, and the traditional plane level measurement method adopts the level meter and the optical theodolite to measure a level point. The method adopts manual reading, recording and manual calculation, the horizontal state of the aircraft is required to be adjusted, the measuring process is complex, the human error is large, and the degree of automation is low.
The search finds that:
The Chinese patent publication No. CN111561867A discloses a digital measurement method of the surface appearance of an airplane, firstly, a multi-camera system covering a measurement area of the airplane to be measured is erected; then calibrating the multi-camera system by using a calibration tool, so as to calculate the pose of each camera in the multi-camera system; then, an optical point projector is used for projecting a target point onto the surface of the aircraft to be measured, an image is shot on the aircraft to be measured through a multi-camera system, and then three-dimensional space coordinates of the target point on the surface of the aircraft to be measured are calculated through the shot image, so that the measurement of the surface appearance of the aircraft is completed. The invention realizes the digital measurement of the aircraft morphology with complex surface in a large range through the multi-camera system. However, this method still has the following problems:
the optical point projector is required to project the target point onto the surface to be measured of the aircraft, so that the hardware cost of the system is increased, the operation is complex, and the three-dimensional pose dynamic tracking measurement of a plurality of measurement points or a plurality of targets cannot be realized.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an aircraft fuselage position and posture detection system and method based on visual space positioning, which have the advantages of high space measurement precision and high measurement speed.
According to one aspect of the invention, an aircraft fuselage position and posture detection system based on visual space positioning is provided, which comprises a plurality of cameras, a measurement module, a control module, a directional reference ruler, a measurement mark single point and a measurement coding point;
The orientation reference ruler is used for providing orientation and reference length; the measurement mark single point and the measurement coding point are arranged at two ends of the directional reference ruler, and the measurement mark single point and the measurement coding point are used for establishing a measurement control field;
The camera and the measuring module are respectively connected with the control module, the camera is used for acquiring a plurality of images of the measured workpiece, and the images comprise the orientation reference ruler, the measuring mark single point and the measuring coding point; the control module is used for controlling a plurality of cameras to shoot images at the same time; the measuring module is used for analyzing and processing the image to obtain three-dimensional coordinates of the to-be-measured point, and analyzing the three-dimensional coordinates to obtain the relation between the relative position and the gesture.
Preferably, the image analysis processing sequentially includes: image preprocessing, sign recognition, image matching, spatial triangular intersection and beam adjustment.
Preferably, the device further comprises a display module, and the display module is connected with the measurement module.
According to another aspect of the present invention, an aircraft fuselage position and orientation detection method based on visual space positioning is provided, and the aircraft fuselage position and orientation detection system based on the visual space positioning includes:
Erecting a camera according to measurement requirements;
Forming a measurement control field on the surface of the machine body by using a measurement mark single point and a measurement coding point, measuring the measurement control field, and establishing a reference coordinate system;
After the cameras are calibrated integrally according to the reference coordinate system, acquiring a plurality of images of the tested workpiece at different positions and directions by using the cameras;
And sequentially carrying out image preprocessing, mark recognition, image matching, space triangular intersection and beam adjustment processing on the plurality of images to obtain three-dimensional coordinates of the measuring points, carrying out data analysis on the three-dimensional coordinates, and determining the relation between the relative position and the posture.
Preferably, the camera is erected according to the measurement requirement, comprising: and determining the position and the posture of the plurality of cameras by utilizing the measurement coding points and the directional reference ruler and adopting a rear intersection principle.
Preferably, after determining the relation between the relative position and the posture, further comprising: and displaying the relation between the relative position and the gesture on a display module.
Compared with the prior art, the invention has at least one of the following beneficial effects:
1. According to the detection system and the detection method, in the measurement process, an object to be detected is not required to be contacted, so that artificial or deformation errors caused by contact can be avoided;
2. the detection system and the detection method can be used for measuring in the environments of vibration, vacuum, toxicity, high and low temperature and the like;
3. The detection system and the detection method have higher spatial measurement precision, reach 8 mu m+8ppm L, and reach 0.032mm in the range of 3 meters;
4. The detection system and the method of the invention have the advantages of high measurement speed and highest frame rate of 3 frames/second while maintaining high measurement precision;
5. The detection system and the method can realize the three-dimensional pose dynamic tracking measurement of a plurality of measurement points or a plurality of targets.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of a method for detecting the position and attitude of an aircraft fuselage according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a camera projection geometry according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a measurement principle according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention. It should be noted that, in the following examples, those not described in detail can be obtained by the prior art.
The embodiment of the invention provides an aircraft fuselage position and posture detection system based on visual space positioning, which comprises a plurality of cameras, a measurement module, a control module, a directional reference ruler, a measurement mark single point and a measurement coding point; the orientation reference ruler is used for providing orientation and reference length; the measuring mark single point and the measuring coding point are arranged at two ends of the directional reference ruler, and the measuring mark single point and the measuring coding point are used for establishing a measuring control field; the camera and the measuring module are respectively connected with the control module, and the camera is used for acquiring a plurality of images of the measured workpiece, wherein the images comprise a directional reference ruler, a measuring mark single point and a measuring coding point; the control module is used for controlling the cameras to shoot images at the same time; the measuring module is used for analyzing and processing the image to obtain the three-dimensional coordinates of the to-be-measured point, and analyzing the three-dimensional coordinates to obtain the relation between the relative position and the gesture.
In a specific embodiment, the cameras can adopt high-precision real-time measurement cameras, the number of the cameras is at least 2, the measurement module can adopt real-time industrial photogrammetry system software, a plurality of high-precision real-time measurement cameras are taken as main sensors, the measurement module is taken as a core, the position and the posture of the plurality of cameras are determined by utilizing photogrammetry coding points and directional reference scales and adopting a rear intersection principle, then the control module controls the plurality of cameras to acquire measurement images in real time, three-dimensional coordinates of photogrammetry mark points are obtained through image processing, and data analysis is carried out according to the three-dimensional coordinates, so that the relation between the relative position and the posture is obtained.
In a specific embodiment, the image analysis process sequentially includes: image preprocessing, sign recognition, image matching, spatial triangular intersection and beam adjustment.
In a specific embodiment, the camera mainly comprises a camera body and a camera light source, the whole material of the orientation standard ruler is carbon fiber material with low expansion coefficient, and the whole material mainly serves as a measuring system for orientation of the orientation standard ruler and provides a standard length. The two ends of the directional reference ruler are measurement coding mark points, the measurement mark points are divided into measurement mark single points and measurement coding points, the measurement coding points are numbered, and the system can automatically identify the number of the measurement coding points.
It will be appreciated by those skilled in the art that the aircraft fuselage position and orientation detection system may also include cables for connection, tripods for camera mounting, and other tooling, although other embodiments may include other components, and embodiments of the invention are not limited in this respect.
The embodiment of the invention also provides an aircraft fuselage position and posture detection method based on visual space positioning, which is realized based on the aircraft fuselage position and posture detection system based on visual space positioning of the embodiment, as shown in fig. 1, and comprises the following steps:
s1, erecting a camera according to measurement requirements;
specifically, the position and the posture of a plurality of cameras are determined by utilizing the measurement coding points and the directional reference ruler and adopting the principle of rear intersection.
S2, forming a measurement control field on the surface of the machine body by using a measurement mark single point and a measurement coding point, measuring the measurement control field, and establishing a reference coordinate system;
Specifically, the measurement control field is arranged on the surface of the airframe, and the control points in the measurement control field consist of measurement mark single points and measurement code points which are arranged on the surface of the airframe at a certain density so as to form the measurement control field. The main functions of the measurement control field include: calibration reference is provided for the multi-camera of the horizontal detection of the aircraft, and reference is provided for the reverse scanning measurement of the whole aircraft.
S3, after the cameras are calibrated integrally according to the reference coordinate system, acquiring a plurality of images of the tested workpiece at different positions and directions by using the cameras;
s4, sequentially performing image preprocessing, mark recognition, image matching, space triangular intersection and beam adjustment processing on the plurality of images to obtain three-dimensional coordinates of the measuring points, and performing data analysis on the three-dimensional coordinates to determine the relation between the relative positions and the postures.
In a specific embodiment, the photogrammetry adopts a high-resolution measuring camera, two or more digital images of the measured workpiece are obtained at different positions and directions, and three-dimensional coordinates of a to-be-measured point are obtained after image preprocessing, sign recognition, image matching, space triangular intersection and beam adjustment, and the physical principle is pinhole imaging, as shown in fig. 2.
From the above formula, the object point is known to find the image point, so that three-dimensional information can be restored by multi-view two-dimensional image, as shown in fig. 3.
In a specific embodiment, after determining the relationship between the relative position and the posture, the method further comprises: and displaying the relation between the relative position and the gesture on the display module.
The method for detecting the position and the posture of the airplane body based on the visual space positioning according to the invention is described in more detail by using the embodiment.
Example 1
In the whole machine measurement process, a whole machine model is led into a measurement module, the detection flow of each characteristic item is planned through the measurement module, the characteristic item to be measured, the measured characteristic item and the data evaluation related to the measurement result are gradually prompted on a display module, an operator can gradually complete the whole horizontal measurement process according to the prompt of the display module, the technical level requirement on the measurement operator can be greatly reduced, and the measurement efficiency is improved.
Specifically, cameras are installed at positions about 2 meters away from the measured object, and two cameras are taken as an example, and the distance between the two cameras is about 2 meters. The camera is arranged on the tripod through the tripod head, the camera is connected with the control module through the communication cable, the control module is connected with the measurement module through the network cable, and the display module is connected with the measurement module. It can be understood that the length of the communication cable and the length of the network cable can be selected according to actual requirements, and the terminal provided with the measuring module can be placed at a workbench and the like convenient for the user to operate, wherein the control module and the measuring module are required to be connected with a 220V power supply for power supply.
Firstly, erecting a camera according to measurement requirements. The measuring control field is distributed on the surface of the airframe, the control points consist of measuring mark single points and measuring coding points, and the measuring mark single points and the measuring coding points are distributed on the surface of the airframe at a certain density so as to form the control field. Before the system is formally used, the whole calibration is carried out, the measurement can be started after the calibration is finished, the obtained measurement data are transmitted to the measurement module for analysis and processing, and finally the obtained measurement result is displayed on the display module.
Example 2
In the horizontal measurement process, the airplane body is formed by connecting a plurality of rectangular cabin sections or cylindrical cabin sections, each cabin section is provided with a horizontal measurement reference, and the whole airplane is horizontally placed. Wherein the axis is the X axis (forward positive direction) of the full-machine design coordinate system, the horizontal plane passing through the central axis is an XOY plane, the normal direction of the plane is the Z axis (upward positive direction), and the three coordinate axes form a horizontal measurement reference coordinate system.
In order to establish a horizontal measurement reference coordinate system, firstly, measurement mark points consisting of measurement mark single points and measurement coding points are required to be distributed on the surface or characteristic positions of the whole machine, and the coordinates of the mark points are measured to fit the axis of the whole machine and the horizontal plane passing through the central axis, so that the reference coordinate system is established.
Because the level measurement has a plurality of characteristic items and poor visibility, the measurement must be implemented by adopting a plurality of cameras, a measuring pen, a tool and the like, and therefore, firstly, the multi-camera system must be calibrated integrally, and the measurement reference thereof must be unified into the reference coordinate system of the full-camera level measurement. The calibration process only needs to start the multi-camera system to shoot images simultaneously on the control field mark points and the mark points distributed on the surface of the whole machine when the reference measurement is carried out, and the multi-camera system can be unified into the reference coordinate system of the horizontal measurement after the whole calibration.
The horizontal measuring point is marked by punching points on the corresponding parts by special equipment in the machining stage of the machine body. When the level measurement is carried out, the target plate with the photogrammetry marks is required to be selected to directly measure the three-dimensional coordinates of the level points, and then the deviation of the level points is calculated according to the design coordinates of the target plate, so that the level measurement is completed.
Example 3
In the process of implementing angle measurement, the characteristic items of angle measurement mainly comprise a wing installation angle, a wing dihedral angle, a wing torsion angle, a tail wing installation angle, a tail wing dihedral angle, an included angle between an installation axis and a fuselage axis, and the like. The angle measurement is converted into the angle between the space straight line and the straight line, the angle between the space plane and the plane, the angle between the space vector and the vector, and the like, so that the detection value is obtained by measuring the corresponding characteristic line and the corresponding characteristic plane and performing fitting and resolving.
Taking the wing installation angle as an example, identifying coding points arranged on the wing through a camera, fitting out a wing span plane, and calculating an included angle between the wing plane and a coordinate system XOZ plane to obtain the installation angle of the wing.
Example 4
In the process of implementing the docking measurement of the airframe, the precise docking of the airframe sections is realized, the gesture adjustment is required to be guided by a measurement system, and the position and the gesture of the airframe sections are systematically adjusted to realize the high-precision docking. The measurement process is as follows:
(1) Preparation before measurement:
firstly, removing greasy dirt and dust on a butt joint workpiece before measurement, secondly, pasting coding points and target points on a machine body at a certain density, setting datum points, and giving a datum point design value or coordinate values under a butt joint coordinate system.
(2) Single-camera shooting photo
After the target point is pasted, the camera starts to take a picture, and the picture is imported into the measuring module for automatic calculation, so that the three-dimensional coordinate value of the measuring point is obtained. And carrying out common point conversion on the obtained three-dimensional coordinate values and the datum points, and converting the coordinates of the measuring points into a design coordinate system or a butt joint installation coordinate system.
(3) Dual camera start real-time monitoring
The coordinates of the measurement points which are converted are led into the measurement module, and then the measurement points are stably oriented by using a control field, so that the double camera works under a designed coordinate system or a butt joint coordinate system, the double camera can start to carry out butt joint, the coordinates of each measurement point can be measured in real time, the deviation value and the deviation direction of a butt joint workpiece under the designed coordinate system or the butt joint coordinate system are obtained, and meanwhile, a worker can adjust the butt joint posture in real time according to the double camera data.
The whole measuring process is displayed on the measuring module and the display module in real time, including the process of fitting straight lines and planes through the coding points, the calculation process of length and angle and the like, so that operators can visually check each measuring step, the technical level requirements on measuring operators are reduced, and the measuring efficiency is improved.
According to the embodiment of the invention, the cameras have a large-scale three-dimensional measurement capability by fusing measurement data of the cameras, the accurate position coordinates of the monitoring points on the large part of the aircraft are obtained through shooting, and the three-dimensional pose dynamic tracking measurement of the measurement points or the targets can be realized by measuring and checking the pose of each part after the aircraft is installed, so that indexes such as the accuracy of the geometrical shape of the aircraft, the coaxiality of the actual axis and the theory, the installation angle of the part and the like are verified. In the measuring process, the invention does not need to contact an object to be measured, can avoid artificial or deformation errors caused by contact, and can also measure under the environments of vibration, vacuum, toxicity, high and low temperature and the like; in addition, the invention has the advantages of high measurement speed while keeping high measurement precision, and the highest frame rate can reach 3 frames/second.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the invention. The above-described preferred features may be used in any combination without collision.
Claims (4)
1. The method for detecting the position and the posture of the aircraft body based on the visual space positioning is realized based on an aircraft body position and posture detection system based on the visual space positioning and is characterized by comprising a plurality of cameras, a measuring module, a control module, a directional reference ruler, a measuring mark single point and a measuring coding point; the number of cameras is more than 2;
The orientation reference ruler is used for providing orientation and reference length; the measurement mark single point and the measurement coding point are arranged at two ends of the directional reference ruler, and the measurement mark single point and the measurement coding point are used for establishing a measurement control field;
The camera and the measuring module are respectively connected with the control module, the camera is used for acquiring a plurality of images of the measured workpiece, and the images comprise the orientation reference ruler, the measuring mark single point and the measuring coding point; the control module is used for controlling a plurality of cameras to shoot images at the same time; the measuring module is used for analyzing and processing the image to obtain three-dimensional coordinates of a to-be-measured point, and analyzing the three-dimensional coordinates to obtain a relation between a relative position and a posture;
the method comprises the following steps:
Erecting a camera according to measurement requirements;
Forming a measurement control field on the surface of the machine body by using a measurement mark single point and a measurement coding point, measuring the measurement control field, and establishing a reference coordinate system; the measuring control field is arranged on the surface of the airplane body, control points in the measuring control field consist of measuring mark single points and measuring code points, the measuring mark single points and the measuring code points are arranged on the surface of the airplane body in a certain density so as to form the measuring control field, a calibration standard is provided for a multi-camera for airplane horizontal detection, and a standard is provided for all-plane reverse scanning measurement; in order to establish a horizontal measurement reference coordinate system, firstly, measuring mark points consisting of measuring mark single points and measuring coding points are distributed on the surface or characteristic positions of the whole machine, and the coordinates of the mark points are measured to fit the axis of the whole machine and the horizontal plane passing through the central axis, so that the reference coordinate system is established;
After the cameras are calibrated integrally according to the reference coordinate system, acquiring a plurality of images of the tested workpiece at different positions and directions by using the cameras;
And sequentially carrying out image preprocessing, mark recognition, image matching, space triangular intersection and beam adjustment processing on a plurality of images, recovering three-dimensional information through multi-view two-dimensional images to obtain three-dimensional coordinates of measurement points, carrying out data analysis on the three-dimensional coordinates, and determining the relation between the relative position and the posture.
2. The method for detecting the position and the attitude of an aircraft fuselage based on visual space localization according to claim 1, wherein the step of erecting a camera according to measurement requirements comprises the steps of: and determining the position and the posture of the plurality of cameras by utilizing the measurement coding points and the directional reference ruler and adopting a rear intersection principle.
3. The method for detecting the position and orientation of an aircraft fuselage based on visual space localization of claim 1, wherein the system further comprises a display module coupled to the measurement module.
4. A method of detecting a position and attitude of an aircraft fuselage based on visual space localization as claimed in claim 3, further comprising, after determining the relative position to attitude relationship: and displaying the relation between the relative position and the gesture on a display module.
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| CN115615338B (en) * | 2022-09-09 | 2024-02-20 | 成都飞机工业（集团）有限责任公司 | Aircraft complete machine level measurement system and measurement method |
| CN117048848B (en) * | 2023-10-12 | 2024-01-05 | 中国飞机强度研究所 | Space attitude and deformation testing method for full-size airplane test |
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| CN113551611A (en) * | 2021-06-15 | 2021-10-26 | 西安交通大学 | Stereo vision measuring method, system, equipment and storage medium for large-size moving object |
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